version: 67.00
glider: 526
mission: 4
dive: 6
start: 3 7 122 17 45 21
data:
$ID,526
$MISSION,4
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,420
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56535
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,578.71997
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3615
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,380
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2820
$C_ROLL_CLIMB,2620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,4.8000002
$MAXI_10V,1.5
$FG_AHR_10V,85.107941
$FG_AHR_24V,50.714214
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.7363
$PRESSURE_SLOPE,0.00022843899
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,6
$LOGGERDEVICE2,33
$LOGGERDEVICE3,19
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.00441493
$SEABIRD_T_H,0.00064107013
$SEABIRD_T_I,2.576065e-05
$SEABIRD_T_J,3.1402324e-06
$SEABIRD_C_G,-9.799654
$SEABIRD_C_H,1.0727782
$SEABIRD_C_I,-0.0026193932
$SEABIRD_C_J,0.00026435545
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,7.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,070322,173633,1505.579,14532.804,19,1.2,20,0.2
$_CALLS,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.8
$GPS2,070322,174450,1505.630,14532.789,25,0.6,35,0.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,355.4,0,-27.2,-10.000,-30.00,972,0.181
$D_GRID,1000
$IRON,1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,14.64,16386,-63.62,-1.17,0.00,538.7,500.8,576.6,121.6,2709.2,0.00,0.00,0,109.47,89.73,0.00,0.00,0.005,0.000,0.000,2964.97,2880.81,3049.12,121.62,2707.88,0,0,0,15.39,30.00,30.00
$GC,109.72,18727,-130.57,-1.25,40.00,2964.1,2879.0,3049.2,121.6,2707.7,3.45,-2.92,9,137.47,9.84,9.65,2.08,0.007,0.404,0.052,3430.56,3323.69,3537.44,2107.62,3982.75,0,0,0,15.58,15.38,15.50
$GC,340.19,3205,-130.57,-1.09,0.00,3433.6,3327.1,3540.0,2107.5,3983.6,78.99,-27.59,55,346.74,0.00,0.19,1.88,0.000,0.251,0.012,3433.47,3327.75,3539.19,2156.19,2753.25,0,0,0,30.00,15.61,15.81
$GC,530.21,2693,-130.57,-0.97,-40.00,3433.4,3327.3,3539.5,2157.2,2739.4,130.62,-24.43,75,536.79,0.00,0.12,2.12,0.000,0.277,0.018,3434.88,3328.94,3540.81,2188.62,1359.44,0,0,0,30.00,15.56,15.62
$GC,554.93,1156,-130.57,-1.03,0.00,3433.2,3327.0,3539.4,2188.8,1344.4,136.24,-22.46,80,562.63,0.00,0.00,2.43,0.000,0.000,0.043,3434.47,3328.69,3540.25,2178.94,2847.38,0,0,0,30.00,30.00,15.30
$GC,750.29,4485,-130.57,-1.12,40.00,3433.2,3326.8,3539.6,2178.8,2849.1,167.97,-16.85,100,756.81,0.00,0.10,1.81,0.000,0.079,0.049,3434.94,3329.50,3540.38,2095.38,3979.44,0,0,0,30.00,15.79,15.76
$GC,770.72,3205,-130.57,-0.99,0.00,3434.2,3328.9,3539.4,2095.0,3979.6,171.76,-17.79,104,776.80,0.00,0.32,1.88,0.000,0.253,0.012,3434.12,3328.31,3539.94,2181.44,2746.81,0,0,0,30.00,15.49,15.77
$GC,960.27,4225,-130.57,-1.16,0.00,3434.4,3327.6,3541.1,2180.4,2731.6,197.13,-11.91,124,964.46,0.00,0.14,0.00,0.000,0.060,0.000,3433.66,3327.06,3540.25,2102.81,2731.19,0,0,0,30.00,15.79,30.00
$GC,1150.39,2437,-130.57,-1.01,40.00,3434.3,3327.7,3541.0,2102.0,2731.8,233.17,-18.19,143,1156.85,0.00,0.28,2.04,0.000,0.251,0.049,3433.22,3327.25,3539.19,2168.94,3981.25,0,0,0,30.00,15.56,15.60
$GC,1250.34,5253,-130.57,-1.28,0.00,3435.8,3331.1,3540.4,2167.1,3982.4,246.53,-10.83,163,1256.86,0.00,0.17,1.88,0.000,0.055,0.011,3435.84,3331.19,3540.50,2072.38,2738.88,0,0,0,30.00,15.75,15.77
$GC,1440.33,2437,-130.57,-1.07,40.00,3436.3,3332.2,3540.3,2072.4,2724.4,282.56,-18.95,175,1446.91,0.00,0.34,2.05,0.000,0.263,0.047,3436.94,3332.81,3541.06,2153.06,3982.94,0,0,0,30.00,15.52,15.57
$GC,1595.15,5253,-130.57,-1.32,0.00,3435.6,3331.4,3539.7,2152.2,3981.8,302.86,-11.46,206,1602.20,0.00,0.16,1.89,0.000,0.057,0.011,3437.44,3333.00,3541.88,2062.12,2736.19,0,0,0,30.00,15.74,15.77
$GC,1920.38,2437,-130.57,-1.14,40.00,3435.2,3330.6,3539.8,2062.8,2721.6,354.89,-16.41,223,1926.99,0.00,0.31,2.06,0.000,0.258,0.048,3436.94,3332.06,3541.81,2136.38,3979.44,0,0,0,30.00,15.51,15.59
$STATE,1965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1965,begin apogee
$GC,1968.64,10243,0.00,-0.20,0.00,3435.6,3330.9,3540.3,2136.2,2557.8,360.34,-11.37,232,2078.53,104.04,0.80,0.17,1.234,0.194,0.089,2899.22,2780.38,3018.06,2374.00,2672.50,0,0,0,11.65,15.20,15.41
$WARN,HTMICL TMICL logging already stopped
$STATE,2080,end apogee,CONTROL_FINISHED_OK
$STATE,2080,begin climb
$GC,2080.13,10759,130.57,1.25,-40.00,2897.7,2778.8,3016.6,2373.1,2673.2,361.23,0.00,239,2188.61,100.25,0.94,2.45,1.223,0.014,0.027,2367.12,2273.50,2460.75,2791.69,1167.00,0,0,0,12.13,15.56,15.33
$GC,2306.33,5253,130.57,0.62,0.00,2361.1,2270.9,2451.2,2792.3,1164.8,321.94,21.36,282,2314.06,0.00,0.95,2.43,0.000,0.342,0.036,2364.56,2274.75,2454.38,2565.12,2659.94,0,0,0,30.00,15.42,15.68
$GC,2621.72,16774,130.57,0.67,40.00,2356.2,2261.1,2451.4,2565.4,2660.1,284.38,12.14,300,2628.17,0.00,0.00,2.13,0.000,0.000,0.046,2356.78,2260.94,2452.62,2565.19,3981.31,0,0,0,30.00,30.00,15.79
$GC,2671.45,17542,130.57,0.60,0.00,2355.9,2260.6,2451.2,2564.9,3981.4,277.37,14.29,310,2678.29,0.00,0.00,2.24,0.000,0.000,0.017,2356.97,2260.94,2453.00,2573.69,2555.12,0,0,0,30.00,30.00,15.47
$GC,2981.77,16646,130.57,0.60,40.00,2353.2,2254.6,2451.8,2573.6,2536.2,243.06,10.67,330,2988.33,0.00,0.00,2.36,0.000,0.000,0.044,2353.41,2255.56,2451.25,2574.62,3981.50,0,0,0,30.00,30.00,15.81
$GC,3021.83,21639,130.57,0.46,0.00,2352.3,2254.9,2449.8,2574.0,3982.9,238.15,12.63,338,3028.40,0.00,0.22,2.22,0.000,0.259,0.017,2354.81,2257.56,2452.06,2524.06,2573.12,0,0,0,30.00,15.58,15.83
$GC,3211.84,10663,154.98,0.76,40.00,2350.3,2251.0,2449.7,2524.1,2554.5,222.94,7.42,358,3238.88,18.46,0.23,2.33,1.031,0.051,0.046,2268.03,2165.19,2370.88,2632.44,3986.31,0,0,0,11.89,15.74,15.73
$GC,3276.55,5253,154.98,0.43,0.00,2263.2,2163.6,2362.8,2632.7,3984.4,214.95,14.05,371,3283.79,0.00,0.48,2.24,0.000,0.281,0.018,2263.31,2163.50,2363.12,2517.44,2570.94,0,0,0,30.00,15.59,15.76
$GC,3471.98,10919,175.58,0.83,-40.00,2261.2,2159.4,2363.1,2518.2,2554.0,200.17,7.82,391,3498.25,17.27,0.29,2.21,0.996,0.046,0.027,2183.06,2078.56,2287.56,2660.38,1160.94,0,0,0,11.99,15.77,15.71
$GC,3521.88,5253,175.58,0.69,0.00,2179.8,2077.0,2282.7,2660.1,1157.8,193.70,13.97,401,3528.54,0.00,0.30,2.43,0.000,0.269,0.036,2180.47,2078.62,2282.31,2581.38,2655.44,0,0,0,30.00,15.62,15.79
$GC,3711.94,2693,175.58,0.81,-40.00,2176.6,2072.8,2280.3,2580.1,2655.4,171.90,12.31,421,3718.58,0.00,0.12,2.40,0.000,0.086,0.026,2177.19,2073.62,2280.75,2650.75,1166.31,0,0,0,30.00,15.76,15.75
$GC,3731.92,5125,175.58,0.81,0.00,2176.2,2073.6,2278.9,2650.5,1162.1,169.15,12.70,425,3738.61,0.00,0.15,2.43,0.000,0.260,0.039,2176.78,2074.25,2279.31,2610.38,2653.75,0,0,0,30.00,15.59,15.79
$GC,3921.99,8742,196.57,0.84,-40.00,2175.1,2071.6,2278.6,2609.9,2653.6,150.85,7.78,445,3948.39,17.03,0.00,2.38,0.936,0.000,0.027,2098.84,1991.81,2205.88,2618.19,1160.50,0,0,0,11.90,30.00,15.72
$GC,4062.02,11431,209.50,1.02,0.00,2092.7,1990.6,2194.7,2619.1,1141.4,139.41,8.63,473,4083.28,11.73,0.14,2.44,0.845,0.070,0.042,2045.00,1945.19,2144.81,2694.75,2650.12,0,0,0,12.11,15.71,15.78
$GC,4272.08,12711,251.12,0.82,40.00,2040.5,1942.0,2139.1,2695.2,2649.4,124.48,5.60,496,4313.68,32.31,0.32,2.18,0.939,0.278,0.048,1874.12,1774.81,1973.44,2613.25,3981.69,0,0,0,11.95,15.56,15.58
$GC,4532.11,3237,252.63,0.97,0.00,1869.5,1775.6,1963.4,2613.8,3984.4,100.39,9.84,548,4538.68,0.00,0.09,2.23,0.000,0.088,0.016,1869.91,1774.62,1965.19,2673.38,2571.94,0,0,0,30.00,15.72,15.73
$GC,4722.15,516,252.63,0.97,-40.00,1868.7,1775.1,1962.3,2674.4,2553.2,78.84,11.60,568,4728.59,0.00,0.00,2.18,0.000,0.000,0.025,1869.28,1775.62,1962.94,2684.31,1162.25,0,0,0,30.00,30.00,15.79
$GC,4823.25,1156,252.63,1.07,0.00,1867.6,1775.2,1959.9,2683.8,1159.8,67.50,11.39,588,4830.04,0.00,0.00,2.42,0.000,0.000,0.035,1866.97,1774.06,1959.88,2684.88,2653.38,0,0,0,30.00,30.00,15.72
$GC,5017.46,516,252.63,1.07,-40.00,1867.9,1775.5,1960.2,2683.8,2654.4,43.94,11.55,608,5024.03,0.00,0.00,2.38,0.000,0.000,0.025,1869.75,1776.81,1962.69,2693.88,1161.62,0,0,0,30.00,30.00,15.79
$GC,5052.17,1156,252.63,1.14,0.00,1867.4,1775.2,1959.5,2694.0,1159.3,40.17,10.75,615,5059.33,0.00,0.00,2.41,0.000,0.000,0.035,1869.28,1776.19,1962.38,2693.50,2654.50,0,0,0,30.00,30.00,15.78
$GC,5247.46,516,252.63,1.14,-40.00,1868.2,1775.7,1960.7,2694.2,2655.4,17.23,11.78,635,5254.02,0.00,0.00,2.39,0.000,0.000,0.025,1868.53,1775.62,1961.44,2704.75,1161.94,0,0,0,30.00,30.00,15.36
$GC,5267.45,1028,252.63,1.14,0.00,1867.6,1775.4,1959.9,2704.8,1157.1,14.96,11.47,639,5274.04,0.00,0.00,2.41,0.000,0.000,0.031,1869.62,1776.94,1962.31,2705.44,2657.56,0,0,0,30.00,30.00,15.75
$STATE,5368,end climb,SURFACE_DEPTH_REACHED
$STATE,5368,begin surface coast
$FINISH,0.2,1.022079
$STATE,5388,end surface coast,CONTROL_FINISHED_OK
$STATE,5388,begin surface
$WARN,HTMICL TMICL logging already stopped
$SM_CCo,5632.13,226.30,0.775,0,540.4,500.3,580.5,578.81
$SM_GC,1.07,226.30,6.95,0.28,0.775,0.044,0.062,540.4,500.3,580.5,128.3,2861.2,0,0,0,11.82,15.83,15.86
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,1504.92,14532.13,070322,160109
$TCM_TEMP,26.10
$XPDR_PINGS,10,14.5,10.5
$SC_FREEKB,3875520
$PM_FREEKB_00,120918976
$PM_FREEKB_01,124834368
$PM_FREEKB_02,124835200
$PM_FREEKB_03,124835200
$PM_ACTIVECARD,0
$TM_FREEKB,7712672
$HUMID,54.80
$TEMP,24.48
$INTERNAL_PRESSURE,9.11338
$24V_AH,14.90,77.159
$10V_AH,14.91,0.000
$FG_AHR_24Vo,50.862
$FG_AHR_10Vo,85.234
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,626.955,23.760,76.235,395.467,2.500,44.626,1115.971,1.645,0.000,3375.174,1057.303,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1234.344,403.520,88.640,222.951,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5403.000,5404.000,5394.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.980,26.648,18.702,0.000
$MEM0,60140,1,0,0
$MEM1,65508,1,0,0
$MEM2,995232,23,51376,75
$DATA_FILE_SIZE,19302,652
$CAP_FILE_SIZE,203254,0
$SDSIZE,3887104,3875200
$SDFILEDIR,79,1
$ERRORS,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,204.3,1
$MAGCAL,1.000000,0.008470,0.046132,0.008405,1.034844,0.002574,-0.036450,-0.002644,1.052625,12.1,97.7,11.7,26,0.0044,0
$IMPLIED_C_PITCH,2380,26.61,375,0.0,0.00
$GPS,070322,192003,1505.919,14532.767,22,0.9,23,0.2